Table REF  shows the results of 3 runs of the independent particle filters and 4 runs for the MCMC filter. In comparison to the results in [1]} our tracker implementation results in a much higher number of tracking failures. However, the decrease of failures with the increase of particles is consistent with the results reported in the referenced paper. Ten particles for the sets of independent trackers results in the same complexity as an MCMC filter with 200 joint particles. Thus, these two are comparable, as are the independent trackers and the MCMC tracker with 50 and 1000 particles respectively. Increasing the number of particles for the independent filters does not influence the number of tracking failures as these occur due to hijacking or switched targets. The independent trackers themselves are already considerably precise, and their mean deviation from the groundtruth is comparable to that of the MCMC filters. On the other hand, increasing the number of particles for the MCMC filters does reduce the number of failures as more hypothesis help resolve the ambiguity around multiple targets, with the aid of the interaction terms.
